Remove obsolete timer functions and replace with std::chrono (#64)

Removed delayTicks(), delayMillis(), delaySeconds(), HAL_NO_WAIT, HAL_WAIT_FOREVER,
niTimestamp32(), and niTimestamp64().

Replaced clock_gettime() and usleep() with std::chrono.

wpilibc/athena/src/CANTalon.cpp

@@ -7,9 +7,9 @@
 
 #include "CANTalon.h"
 
-#include <unistd.h>  // usleep
-
+#include <chrono>
 #include <sstream>
+#include <thread>
 
 #include "HAL/HAL.h"
 #include "LiveWindow/LiveWindow.h"
@@ -31,6 +31,8 @@ const double kNativePwdUnitsPerRotation = 4096.0;
  */
 const double kMinutesPer100msUnit = 1.0 / 600.0;
 
+constexpr unsigned int CANTalon::kDelayForSolicitedSignalsUs;
+
 /**
  * Constructor for the CANTalon device.
  *
@@ -386,7 +388,9 @@ double CANTalon::GetP() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
+  // small yield for getting response
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   double p;
   status = m_impl->GetPgain(m_profile, p);
   if (status != CTR_OKAY) {
@@ -407,7 +411,9 @@ double CANTalon::GetI() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
+  // small yield for getting response
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
 
   double i;
   status = m_impl->GetIgain(m_profile, i);
@@ -429,8 +435,9 @@ double CANTalon::GetD() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
-
+  // small yield for getting response
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   double d;
   status = m_impl->GetDgain(m_profile, d);
   if (status != CTR_OKAY) {
@@ -452,7 +459,9 @@ double CANTalon::GetF() const {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
 
-  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
+  // small yield for getting response
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   double f;
   status = m_impl->GetFgain(m_profile, f);
   if (status != CTR_OKAY) {
@@ -473,7 +482,8 @@ int CANTalon::GetIzone() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs);
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
 
   int iz;
   status = m_impl->GetIzone(m_profile, iz);
@@ -1117,7 +1127,8 @@ uint32_t CANTalon::GetFirmwareVersion() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs);
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   status =
       m_impl->GetParamResponseInt32(CanTalonSRX::eFirmVers, firmwareVersion);
   if (status != CTR_OKAY) {
@@ -1141,7 +1152,9 @@ int CANTalon::GetIaccum() const {
   if (status != CTR_OKAY) {
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
   }
-  usleep(kDelayForSolicitedSignalsUs); /* small yield for getting response */
+  // small yield for getting response
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   int iaccum;
   status = m_impl->GetParamResponseInt32(CanTalonSRX::ePidIaccum, iaccum);
   if (status != CTR_OKAY) {
@@ -1519,7 +1532,8 @@ bool CANTalon::GetParameter(uint32_t paramEnum, double& dvalue) const {
     retval = false;
   }
   /* small yield for getting response */
-  usleep(kDelayForSolicitedSignalsUs);
+  std::this_thread::sleep_for(
+      std::chrono::microseconds(kDelayForSolicitedSignalsUs));
   /* get the last received update */
   status = m_impl->GetParamResponse((CanTalonSRX::param_t)paramEnum, dvalue);
   if (status != CTR_OKAY) {

wpilibc/athena/src/IterativeRobot.cpp

@@ -172,7 +172,6 @@ void IterativeRobot::DisabledPeriodic() {
     printf("Default %s() method... Overload me!\n", __FUNCTION__);
     firstRun = false;
   }
-  delayTicks(1);
 }
 
 /**
@@ -187,7 +186,6 @@ void IterativeRobot::AutonomousPeriodic() {
     printf("Default %s() method... Overload me!\n", __FUNCTION__);
     firstRun = false;
   }
-  delayTicks(1);
 }
 
 /**
@@ -202,7 +200,6 @@ void IterativeRobot::TeleopPeriodic() {
     printf("Default %s() method... Overload me!\n", __FUNCTION__);
     firstRun = false;
   }
-  delayTicks(1);
 }
 
 /**
@@ -217,5 +214,4 @@ void IterativeRobot::TestPeriodic() {
     printf("Default %s() method... Overload me!\n", __FUNCTION__);
     firstRun = false;
   }
-  delayTicks(1);
 }

wpilibc/athena/src/Timer.cpp

@@ -7,9 +7,9 @@
 
 #include "Timer.h"
 
-#include <time.h>
-
+#include <chrono>
 #include <iostream>
+#include <thread>
 #include "HAL/HAL.h"
 #include "Utility.h"
 
@@ -25,7 +25,7 @@
  */
 void Wait(double seconds) {
   if (seconds < 0.0) return;
-  delaySeconds(seconds);
+  std::this_thread::sleep_for(std::chrono::duration<double>(seconds));
 }
 
 /**
@@ -41,12 +41,9 @@ double GetClock() { return Timer::GetFPGATimestamp(); }
  *         on Saturday.
  */
 double GetTime() {
-  struct timespec tp;
-
-  clock_gettime(CLOCK_REALTIME, &tp);
-  double realTime = (double)tp.tv_sec + (double)((double)tp.tv_nsec * 1e-9);
-
-  return (realTime);
+  using namespace std::chrono;
+  return duration_cast<duration<double>>(system_clock::now().time_since_epoch())
+      .count();
 }
 
 // for compatibility with msvc12--see C2864
@@ -167,9 +164,3 @@ double Timer::GetFPGATimestamp() {
   // Call the helper GetFPGATime() in Utility.cpp
   return GetFPGATime() * 1.0e-6;
 }
-
-// Internal function that reads the PPC timestamp counter.
-extern "C" {
-uint32_t niTimestamp32(void);
-uint64_t niTimestamp64(void);
-}